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Merge pull request #3522 from giacomo892/wind_speed_BB_slow

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Log estimated wind speed to BB slow frames
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Alberto García Hierro 2018-07-07 22:41:55 +01:00 • committed by GitHub
commit d7c8a6e84d
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1 changed files with 13 additions and 0 deletions
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13
src/main/blackbox/blackbox.c
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@ -75,6 +75,7 @@
#include "sensors/pitotmeter.h" #include "sensors/pitotmeter.h"
#include "sensors/rangefinder.h" #include "sensors/rangefinder.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
#include "flight/wind_estimator.h"
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT) #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
@ -341,6 +342,9 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
{"hwHealthStatus", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"hwHealthStatus", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"powerSupplyImpedance", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"powerSupplyImpedance", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"sagCompensatedVBat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}, {"sagCompensatedVBat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"wind", 0, SIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"wind", 1, SIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"wind", 2, SIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
}; };
typedef enum BlackboxState { typedef enum BlackboxState {
@ -438,6 +442,7 @@ typedef struct blackboxSlowState_s {
int32_t hwHealthStatus; int32_t hwHealthStatus;
uint16_t powerSupplyImpedance; uint16_t powerSupplyImpedance;
uint16_t sagCompensatedVBat; uint16_t sagCompensatedVBat;
int16_t wind[XYZ_AXIS_COUNT];
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp() } __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
//From rc_controls.c //From rc_controls.c
@ -1022,6 +1027,8 @@ static void writeSlowFrame(void)
blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance); blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance);
blackboxWriteUnsignedVB(slowHistory.sagCompensatedVBat); blackboxWriteUnsignedVB(slowHistory.sagCompensatedVBat);
blackboxWriteSigned16VBArray(slowHistory.wind, XYZ_AXIS_COUNT);
blackboxSlowFrameIterationTimer = 0; blackboxSlowFrameIterationTimer = 0;
} }
@ -1045,6 +1052,12 @@ static void loadSlowState(blackboxSlowState_t *slow)
(getHwPitotmeterStatus() << 2 * 6); (getHwPitotmeterStatus() << 2 * 6);
slow->powerSupplyImpedance = getPowerSupplyImpedance(); slow->powerSupplyImpedance = getPowerSupplyImpedance();
slow->sagCompensatedVBat = getBatterySagCompensatedVoltage(); slow->sagCompensatedVBat = getBatterySagCompensatedVoltage();
for (int i = 0; i < XYZ_AXIS_COUNT; i++)
{
slow->wind[i] = getEstimatedWindSpeed(i);
}
} }
/** /**